SCF-Net details

About

Short Name SCF-Net
Long Name SCF-Net
Website
Description How to learn effective features from large-scale point clouds for semantic segmentation has attracted increasing attention in recent years. Addressing this problem, we propose a learnable module that learns Spatial Contextual Features from large-scale point clouds, called SCF in this paper. The proposed module mainly consists of three blocks, including the local polar representation block, the dual-distance attentive pooling block, and the global contextual feature block. For each 3D point, the local polar representation block is firstly explored to construct a spatial representation that is invariant to the z-axis rotation, then the dual-distance attentive pooling block is designed to utilize the representations of its neighbors for learning more discriminative local features according to both the geometric and feature distances among them, and finally, the global contextual feature block is designed to learn a global context for each 3D point by utilizing its spatial location and the volume ratio of the neighborhood to the global point cloud. The proposed module could be easily embedded into various network architectures for point cloud segmentation, naturally resulting in a new 3D semantic segmentation network with an encoder-decoder architecture, called SCF-Net in this work. Extensive experimental results on two public datasets demonstrate that the proposed SCF-Net performs better than several state-of-the-art methods in most cases.
Reference SCF-Net: Learning Spatial Contextual Features for Large-Scale Point Cloud Segmentation (CVPR2021)
Hardware NVIDIA Titan Xp
Used additional training data 0
Last submission 2020-11-09 03:51:25
Is opensource 1
Number of submissions 1

Result

A_IoU OA [s] IoU 1 IoU 2 IoU 3 IoU 4 IoU 5 IoU 6 IoU 7 IoU 8
Result0.7760.947563.600.9710.9180.8630.5120.9530.5050.6790.807
Rank111337191523201791617

Full Confusion Matrix

L1' L2' L3' L4' L5' L6' L7' L8'
L114158787452580115221418565883881113063
L218497410140065248634812222961216913863248
L3036345878311366468238257132040
L4164042608325797781952454907301159345375387
L55498956615909019632830343075231842168273394
L6128194061569720797264842914482171572410072
L77851904550346482864919404218
L872700570010465328626493711743